620 lines
25 KiB
C++
620 lines
25 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Module.ccp
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* @author Frank Dellaert
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* @author Alex Cunningham
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* @author Andrew Melim
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* @author Richard Roberts
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**/
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#include "Module.h"
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#include "FileWriter.h"
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#include "TypeAttributesTable.h"
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#include "utilities.h"
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#include "spirit_actors.h"
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//#define BOOST_SPIRIT_DEBUG
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#include <boost/spirit/include/classic_confix.hpp>
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#include <boost/spirit/include/classic_clear_actor.hpp>
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#include <boost/spirit/include/classic_insert_at_actor.hpp>
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#include <boost/lambda/bind.hpp>
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#include <boost/lambda/lambda.hpp>
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#include <boost/lambda/construct.hpp>
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#include <boost/foreach.hpp>
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#include <boost/filesystem.hpp>
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#include <boost/lexical_cast.hpp>
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#include <iostream>
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#include <algorithm>
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using namespace std;
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using namespace wrap;
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using namespace BOOST_SPIRIT_CLASSIC_NS;
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namespace bl = boost::lambda;
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namespace fs = boost::filesystem;
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typedef rule<BOOST_SPIRIT_CLASSIC_NS::phrase_scanner_t> Rule;
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/* ************************************************************************* */
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// We parse an interface file into a Module object.
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// The grammar is defined using the boost/spirit combinatorial parser.
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// For example, str_p("const") parses the string "const", and the >>
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// operator creates a sequence parser. The grammar below, composed of rules
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// and with start rule [class_p], doubles as the specs for our interface files.
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/* ************************************************************************* */
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/* ************************************************************************* */
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void handle_possible_template(vector<Class>& classes, const Class& cls, const string& templateArgument, const vector<vector<string> >& instantiations) {
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if(instantiations.empty()) {
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classes.push_back(cls);
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} else {
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vector<Class> classInstantiations = cls.expandTemplate(templateArgument, instantiations);
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BOOST_FOREACH(const Class& c, classInstantiations) {
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classes.push_back(c);
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}
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}
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}
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/* ************************************************************************* */
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Module::Module(const string& interfacePath,
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const string& moduleName, bool enable_verbose) : name(moduleName), verbose(enable_verbose)
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{
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// these variables will be imperatively updated to gradually build [cls]
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// The one with postfix 0 are used to reset the variables after parse.
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string methodName, methodName0;
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bool isConst, isConst0 = false;
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ReturnValue retVal0, retVal;
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Argument arg0, arg;
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ArgumentList args0, args;
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vector<string> arg_dup; ///keep track of duplicates
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Constructor constructor0(enable_verbose), constructor(enable_verbose);
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Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose);
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StaticMethod static_method0(enable_verbose), static_method(enable_verbose);
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Class cls0(enable_verbose),cls(enable_verbose);
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GlobalFunction globalFunc0(enable_verbose), globalFunc(enable_verbose);
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ForwardDeclaration fwDec0, fwDec;
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vector<string> namespaces, /// current namespace tag
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namespaces_return, /// namespace for current return type
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using_namespace_current; /// All namespaces from "using" declarations
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string templateArgument;
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vector<string> templateInstantiationNamespace;
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vector<vector<string> > templateInstantiations;
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TemplateInstantiationTypedef singleInstantiation, singleInstantiation0;
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string include_path = "";
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const string null_str = "";
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//----------------------------------------------------------------------------
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// Grammar with actions that build the Class object. Actions are
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// defined within the square brackets [] and are executed whenever a
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// rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug.
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// The grammar is allows a very restricted C++ header
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// lexeme_d turns off white space skipping
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// http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html
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// ----------------------------------------------------------------------------
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Rule comments_p = comment_p("/*", "*/") | comment_p("//", eol_p);
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Rule basisType_p =
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(str_p("string") | "bool" | "size_t" | "int" | "double" | "char" | "unsigned char");
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Rule keywords_p =
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(str_p("const") | "static" | "namespace" | basisType_p);
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Rule eigenType_p =
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(str_p("Vector") | "Matrix");
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Rule className_p = (lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p);
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Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')] - keywords_p;
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Rule namespace_arg_p = namespace_name_p[push_back_a(arg.namespaces)] >> str_p("::");
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Rule argEigenType_p =
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eigenType_p[assign_a(arg.type)] >>
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!ch_p('*')[assign_a(arg.is_ptr,true)];
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Rule eigenRef_p =
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!str_p("const") [assign_a(arg.is_const,true)] >>
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eigenType_p [assign_a(arg.type)] >>
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ch_p('&') [assign_a(arg.is_ref,true)];
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Rule classArg_p =
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!str_p("const") [assign_a(arg.is_const,true)] >>
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*namespace_arg_p >>
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className_p[assign_a(arg.type)] >>
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(ch_p('*')[assign_a(arg.is_ptr,true)] | ch_p('&')[assign_a(arg.is_ref,true)]);
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Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')];
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Rule classParent_p =
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*(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >>
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className_p[push_back_a(cls.qualifiedParent)];
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Rule templateInstantiation_p =
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(*(namespace_name_p[push_back_a(templateInstantiationNamespace)] >> str_p("::")) >>
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className_p[push_back_a(templateInstantiationNamespace)])
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[push_back_a(templateInstantiations, templateInstantiationNamespace)]
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[clear_a(templateInstantiationNamespace)];
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Rule templateInstantiations_p =
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(str_p("template") >>
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'<' >> name_p[assign_a(templateArgument)] >> '=' >> '{' >>
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!(templateInstantiation_p >> *(',' >> templateInstantiation_p)) >>
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'}' >> '>')
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[push_back_a(cls.templateArgs, templateArgument)];
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Rule templateSingleInstantiationArg_p =
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(*(namespace_name_p[push_back_a(templateInstantiationNamespace)] >> str_p("::")) >>
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className_p[push_back_a(templateInstantiationNamespace)])
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[push_back_a(singleInstantiation.typeList, templateInstantiationNamespace)]
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[clear_a(templateInstantiationNamespace)];
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Rule templateSingleInstantiation_p =
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(str_p("typedef") >>
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*(namespace_name_p[push_back_a(singleInstantiation.classNamespaces)] >> str_p("::")) >>
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className_p[assign_a(singleInstantiation.className)] >>
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'<' >> templateSingleInstantiationArg_p >> *(',' >> templateSingleInstantiationArg_p) >>
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'>' >>
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className_p[assign_a(singleInstantiation.name)] >>
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';')
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[assign_a(singleInstantiation.namespaces, namespaces)]
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[push_back_a(templateInstantiationTypedefs, singleInstantiation)]
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[assign_a(singleInstantiation, singleInstantiation0)];
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Rule templateList_p =
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(str_p("template") >>
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'<' >> name_p[push_back_a(cls.templateArgs)] >> *(',' >> name_p[push_back_a(cls.templateArgs)]) >>
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'>');
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Rule argument_p =
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((basisType_p[assign_a(arg.type)] | argEigenType_p | eigenRef_p | classArg_p)
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>> name_p[assign_a(arg.name)])
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[push_back_a(args, arg)]
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[assign_a(arg,arg0)];
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Rule argumentList_p = !argument_p >> * (',' >> argument_p);
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Rule constructor_p =
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(className_p >> '(' >> argumentList_p >> ')' >> ';' >> !comments_p)
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[push_back_a(constructor.args_list, args)]
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[assign_a(args,args0)];
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//[assign_a(constructor.args,args)]
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//[assign_a(constructor.name,cls.name)]
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//[push_back_a(cls.constructors, constructor)]
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//[assign_a(constructor,constructor0)];
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Rule namespace_ret_p = namespace_name_p[push_back_a(namespaces_return)] >> str_p("::");
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Rule returnType1_p =
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(basisType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::BASIS)]) |
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((*namespace_ret_p)[assign_a(retVal.namespaces1, namespaces_return)][clear_a(namespaces_return)]
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>> (className_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::CLASS)]) >>
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!ch_p('*')[assign_a(retVal.isPtr1,true)]) |
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(eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::EIGEN)]);
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Rule returnType2_p =
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(basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::BASIS)]) |
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((*namespace_ret_p)[assign_a(retVal.namespaces2, namespaces_return)][clear_a(namespaces_return)]
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>> (className_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::CLASS)]) >>
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!ch_p('*') [assign_a(retVal.isPtr2,true)]) |
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(eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::EIGEN)]);
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Rule pair_p =
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(str_p("pair") >> '<' >> returnType1_p >> ',' >> returnType2_p >> '>')
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[assign_a(retVal.isPair,true)];
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Rule void_p = str_p("void")[assign_a(retVal.type1)];
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Rule returnType_p = void_p | returnType1_p | pair_p;
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Rule methodName_p = lexeme_d[lower_p >> *(alnum_p | '_')];
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Rule method_p =
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(returnType_p >> methodName_p[assign_a(methodName)] >>
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'(' >> argumentList_p >> ')' >>
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!str_p("const")[assign_a(isConst,true)] >> ';' >> *comments_p)
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[bl::bind(&Method::addOverload,
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bl::var(cls.methods)[bl::var(methodName)],
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verbose,
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bl::var(isConst),
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bl::var(methodName),
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bl::var(args),
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bl::var(retVal))]
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[assign_a(isConst,isConst0)]
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[assign_a(methodName,methodName0)]
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[assign_a(args,args0)]
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[assign_a(retVal,retVal0)];
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Rule staticMethodName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')];
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Rule static_method_p =
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(str_p("static") >> returnType_p >> staticMethodName_p[assign_a(methodName)] >>
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'(' >> argumentList_p >> ')' >> ';' >> *comments_p)
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[bl::bind(&StaticMethod::addOverload,
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bl::var(cls.static_methods)[bl::var(methodName)],
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verbose,
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bl::var(methodName),
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bl::var(args),
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bl::var(retVal))]
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[assign_a(methodName,methodName0)]
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[assign_a(args,args0)]
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[assign_a(retVal,retVal0)];
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Rule functions_p = constructor_p | method_p | static_method_p;
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Rule class_p =
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(str_p("")[assign_a(cls,cls0)])
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>> (!(templateInstantiations_p | templateList_p)
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>> !(str_p("virtual")[assign_a(cls.isVirtual, true)])
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>> str_p("class")
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>> className_p[assign_a(cls.name)]
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>> ((':' >> classParent_p >> '{') | '{')
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>> *(functions_p | comments_p)
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>> str_p("};"))
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[assign_a(constructor.name, cls.name)]
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[assign_a(cls.constructor, constructor)]
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[assign_a(cls.namespaces, namespaces)]
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[assign_a(cls.using_namespaces, using_namespace_current)]
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[assign_a(deconstructor.name,cls.name)]
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[assign_a(cls.deconstructor, deconstructor)]
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[bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls), bl::var(templateArgument), bl::var(templateInstantiations))]
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[assign_a(deconstructor,deconstructor0)]
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[assign_a(constructor, constructor0)]
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[assign_a(cls,cls0)]
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[clear_a(templateArgument)]
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[clear_a(templateInstantiations)];
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Rule global_function_p =
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(returnType_p >> staticMethodName_p[assign_a(methodName)] >>
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'(' >> argumentList_p >> ')' >> ';' >> *comments_p)
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[bl::bind(&GlobalFunction::addOverload,
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bl::var(global_functions)[bl::var(methodName)],
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verbose,
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bl::var(methodName),
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bl::var(args),
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bl::var(retVal),
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bl::var(namespaces))]
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[assign_a(methodName,methodName0)]
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[assign_a(args,args0)]
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[assign_a(retVal,retVal0)];
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Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[push_back_a(includes)] >> ch_p('>');
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Rule namespace_def_p =
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(str_p("namespace")
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>> namespace_name_p[push_back_a(namespaces)]
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>> ch_p('{')
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>> *(include_p | class_p | templateSingleInstantiation_p | global_function_p | namespace_def_p | comments_p)
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>> ch_p('}'))
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[pop_a(namespaces)];
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Rule using_namespace_p =
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str_p("using") >> str_p("namespace")
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>> namespace_name_p[push_back_a(using_namespace_current)] >> ch_p(';');
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Rule forward_declaration_p =
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!(str_p("virtual")[assign_a(fwDec.isVirtual, true)])
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>> str_p("class")
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>> (*(namespace_name_p >> str_p("::")) >> className_p)[assign_a(fwDec.name)]
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>> ch_p(';')
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[push_back_a(forward_declarations, fwDec)]
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[assign_a(fwDec, fwDec0)];
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Rule module_content_p = comments_p | using_namespace_p | include_p | class_p | templateSingleInstantiation_p | forward_declaration_p | global_function_p | namespace_def_p;
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Rule module_p = *module_content_p >> !end_p;
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//----------------------------------------------------------------------------
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// for debugging, define BOOST_SPIRIT_DEBUG
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# ifdef BOOST_SPIRIT_DEBUG
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BOOST_SPIRIT_DEBUG_NODE(className_p);
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BOOST_SPIRIT_DEBUG_NODE(classPtr_p);
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BOOST_SPIRIT_DEBUG_NODE(classRef_p);
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BOOST_SPIRIT_DEBUG_NODE(basisType_p);
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BOOST_SPIRIT_DEBUG_NODE(name_p);
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BOOST_SPIRIT_DEBUG_NODE(argument_p);
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BOOST_SPIRIT_DEBUG_NODE(argumentList_p);
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BOOST_SPIRIT_DEBUG_NODE(constructor_p);
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BOOST_SPIRIT_DEBUG_NODE(returnType1_p);
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BOOST_SPIRIT_DEBUG_NODE(returnType2_p);
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BOOST_SPIRIT_DEBUG_NODE(pair_p);
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BOOST_SPIRIT_DEBUG_NODE(void_p);
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BOOST_SPIRIT_DEBUG_NODE(returnType_p);
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BOOST_SPIRIT_DEBUG_NODE(methodName_p);
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BOOST_SPIRIT_DEBUG_NODE(method_p);
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BOOST_SPIRIT_DEBUG_NODE(class_p);
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BOOST_SPIRIT_DEBUG_NODE(namespace_def_p);
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BOOST_SPIRIT_DEBUG_NODE(module_p);
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# endif
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//----------------------------------------------------------------------------
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// read interface file
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string interfaceFile = interfacePath + "/" + moduleName + ".h";
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string contents = file_contents(interfaceFile);
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// and parse contents
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parse_info<const char*> info = parse(contents.c_str(), module_p, space_p);
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if(!info.full) {
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printf("parsing stopped at \n%.20s\n",info.stop);
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throw ParseFailed((int)info.length);
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}
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}
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/* ************************************************************************* */
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template<class T>
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void verifyArguments(const vector<string>& validArgs, const map<string,T>& vt) {
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typedef typename map<string,T>::value_type Name_Method;
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BOOST_FOREACH(const Name_Method& name_method, vt) {
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const T& t = name_method.second;
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BOOST_FOREACH(const ArgumentList& argList, t.argLists) {
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BOOST_FOREACH(Argument arg, argList) {
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string fullType = arg.qualifiedType("::");
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if(find(validArgs.begin(), validArgs.end(), fullType)
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== validArgs.end())
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throw DependencyMissing(fullType, t.name);
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}
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}
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}
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}
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/* ************************************************************************* */
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template<class T>
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void verifyReturnTypes(const vector<string>& validtypes, const map<string,T>& vt) {
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typedef typename map<string,T>::value_type Name_Method;
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BOOST_FOREACH(const Name_Method& name_method, vt) {
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const T& t = name_method.second;
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BOOST_FOREACH(const ReturnValue& retval, t.returnVals) {
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if (find(validtypes.begin(), validtypes.end(), retval.qualifiedType1("::")) == validtypes.end())
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throw DependencyMissing(retval.qualifiedType1("::"), t.name);
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if (retval.isPair && find(validtypes.begin(), validtypes.end(), retval.qualifiedType2("::")) == validtypes.end())
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throw DependencyMissing(retval.qualifiedType2("::"), t.name);
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}
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}
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}
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/* ************************************************************************* */
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void Module::generateIncludes(FileWriter& file) const {
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// collect includes
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vector<string> all_includes(includes);
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// sort and remove duplicates
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sort(all_includes.begin(), all_includes.end());
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vector<string>::const_iterator last_include = unique(all_includes.begin(), all_includes.end());
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vector<string>::const_iterator it = all_includes.begin();
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// add includes to file
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for (; it != last_include; ++it)
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file.oss << "#include <" << *it << ">" << endl;
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file.oss << "\n";
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}
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/* ************************************************************************* */
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void Module::matlab_code(const string& toolboxPath, const string& headerPath) const {
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fs::create_directories(toolboxPath);
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// create the unified .cpp switch file
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const string wrapperName = name + "_wrapper";
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string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp";
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FileWriter wrapperFile(wrapperFileName, verbose, "//");
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vector<string> functionNames; // Function names stored by index for switch
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wrapperFile.oss << "#include <wrap/matlab.h>\n";
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wrapperFile.oss << "#include <map>\n";
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wrapperFile.oss << "#include <boost/foreach.hpp>\n";
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wrapperFile.oss << "\n";
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// Expand templates - This is done first so that template instantiations are
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// counted in the list of valid types, have their attributes and dependencies
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// checked, etc.
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vector<Class> expandedClasses = ExpandTypedefInstantiations(classes, templateInstantiationTypedefs);
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// Dependency check list
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vector<string> validTypes = GenerateValidTypes(expandedClasses, forward_declarations);
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// Check that all classes have been defined somewhere
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BOOST_FOREACH(const Class& cls, expandedClasses) {
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// verify all of the function arguments
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//TODO:verifyArguments<ArgumentList>(validTypes, cls.constructor.args_list);
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verifyArguments<StaticMethod>(validTypes, cls.static_methods);
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verifyArguments<Method>(validTypes, cls.methods);
|
|
|
|
// verify function return types
|
|
verifyReturnTypes<StaticMethod>(validTypes, cls.static_methods);
|
|
verifyReturnTypes<Method>(validTypes, cls.methods);
|
|
|
|
// verify parents
|
|
if(!cls.qualifiedParent.empty() && std::find(validTypes.begin(), validTypes.end(), wrap::qualifiedName("::", cls.qualifiedParent)) == validTypes.end())
|
|
throw DependencyMissing(wrap::qualifiedName("::", cls.qualifiedParent), cls.qualifiedName("::"));
|
|
}
|
|
|
|
// Create type attributes table and check validity
|
|
TypeAttributesTable typeAttributes;
|
|
typeAttributes.addClasses(expandedClasses);
|
|
typeAttributes.addForwardDeclarations(forward_declarations);
|
|
typeAttributes.checkValidity(expandedClasses);
|
|
|
|
// Generate includes while avoiding redundant includes
|
|
generateIncludes(wrapperFile);
|
|
|
|
// create typedef classes - we put this at the top of the wrap file so that collectors and method arguments can use these typedefs
|
|
BOOST_FOREACH(const Class& cls, expandedClasses) {
|
|
if(!cls.typedefName.empty())
|
|
wrapperFile.oss << cls.getTypedef() << "\n";
|
|
}
|
|
wrapperFile.oss << "\n";
|
|
|
|
// Generate collectors and cleanup function to be called from mexAtExit
|
|
WriteCollectorsAndCleanupFcn(wrapperFile, name, expandedClasses);
|
|
|
|
// generate RTTI registry (for returning derived-most types)
|
|
WriteRTTIRegistry(wrapperFile, name, expandedClasses);
|
|
|
|
// create proxy class and wrapper code
|
|
BOOST_FOREACH(const Class& cls, expandedClasses) {
|
|
cls.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames);
|
|
}
|
|
|
|
// finish wrapper file
|
|
wrapperFile.oss << "\n";
|
|
finish_wrapper(wrapperFile, functionNames);
|
|
|
|
wrapperFile.emit(true);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
void Module::finish_wrapper(FileWriter& file, const std::vector<std::string>& functionNames) const {
|
|
file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
|
|
file.oss << "{\n";
|
|
file.oss << " mstream mout;\n"; // Send stdout to MATLAB console
|
|
file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n";
|
|
file.oss << " _" << name << "_RTTIRegister();\n\n";
|
|
file.oss << " int id = unwrap<int>(in[0]);\n\n";
|
|
file.oss << " switch(id) {\n";
|
|
for(size_t id = 0; id < functionNames.size(); ++id) {
|
|
file.oss << " case " << id << ":\n";
|
|
file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n";
|
|
file.oss << " break;\n";
|
|
}
|
|
file.oss << " }\n";
|
|
file.oss << "\n";
|
|
file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout
|
|
file.oss << "}\n";
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
vector<Class> Module::ExpandTypedefInstantiations(const vector<Class>& classes, const vector<TemplateInstantiationTypedef> instantiations) {
|
|
|
|
vector<Class> expandedClasses = classes;
|
|
|
|
BOOST_FOREACH(const TemplateInstantiationTypedef& inst, instantiations) {
|
|
// Add the new class to the list
|
|
expandedClasses.push_back(inst.findAndExpand(classes));
|
|
}
|
|
|
|
// Remove all template classes
|
|
for(size_t i = 0; i < expandedClasses.size(); ++i)
|
|
if(!expandedClasses[size_t(i)].templateArgs.empty()) {
|
|
expandedClasses.erase(expandedClasses.begin() + size_t(i));
|
|
-- i;
|
|
}
|
|
|
|
return expandedClasses;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
vector<string> Module::GenerateValidTypes(const vector<Class>& classes, const vector<ForwardDeclaration> forwardDeclarations) {
|
|
vector<string> validTypes;
|
|
BOOST_FOREACH(const ForwardDeclaration& fwDec, forwardDeclarations) {
|
|
validTypes.push_back(fwDec.name);
|
|
}
|
|
validTypes.push_back("void");
|
|
validTypes.push_back("string");
|
|
validTypes.push_back("int");
|
|
validTypes.push_back("bool");
|
|
validTypes.push_back("char");
|
|
validTypes.push_back("unsigned char");
|
|
validTypes.push_back("size_t");
|
|
validTypes.push_back("double");
|
|
validTypes.push_back("Vector");
|
|
validTypes.push_back("Matrix");
|
|
//Create a list of parsed classes for dependency checking
|
|
BOOST_FOREACH(const Class& cls, classes) {
|
|
validTypes.push_back(cls.qualifiedName("::"));
|
|
}
|
|
|
|
return validTypes;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) {
|
|
// Generate all collectors
|
|
BOOST_FOREACH(const Class& cls, classes) {
|
|
const string matlabUniqueName = cls.qualifiedName(),
|
|
cppName = cls.qualifiedName("::");
|
|
wrapperFile.oss << "typedef std::set<boost::shared_ptr<" << cppName << ">*> "
|
|
<< "Collector_" << matlabUniqueName << ";\n";
|
|
wrapperFile.oss << "static Collector_" << matlabUniqueName <<
|
|
" collector_" << matlabUniqueName << ";\n";
|
|
}
|
|
|
|
// generate mexAtExit cleanup function
|
|
wrapperFile.oss <<
|
|
"\nvoid _deleteAllObjects()\n"
|
|
"{\n"
|
|
" mstream mout;\n" // Send stdout to MATLAB console
|
|
" std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"
|
|
" bool anyDeleted = false;\n";
|
|
BOOST_FOREACH(const Class& cls, classes) {
|
|
const string matlabUniqueName = cls.qualifiedName();
|
|
const string cppName = cls.qualifiedName("::");
|
|
const string collectorType = "Collector_" + matlabUniqueName;
|
|
const string collectorName = "collector_" + matlabUniqueName;
|
|
wrapperFile.oss <<
|
|
" for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"
|
|
" iter != " << collectorName << ".end(); ) {\n"
|
|
" delete *iter;\n"
|
|
" " << collectorName << ".erase(iter++);\n"
|
|
" anyDeleted = true;\n"
|
|
" }\n";
|
|
}
|
|
wrapperFile.oss <<
|
|
" if(anyDeleted)\n"
|
|
" cout <<\n"
|
|
" \"WARNING: Wrap modules with variables in the workspace have been reloaded due to\\n\"\n"
|
|
" \"calling destructors, call 'clear all' again if you plan to now recompile a wrap\\n\"\n"
|
|
" \"module, so that your recompiled module is used instead of the old one.\" << endl;\n"
|
|
" std::cout.rdbuf(outbuf);\n" // Restore cout
|
|
"}\n\n";
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) {
|
|
wrapperFile.oss <<
|
|
"void _" << moduleName << "_RTTIRegister() {\n"
|
|
" const mxArray *alreadyCreated = mexGetVariablePtr(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\");\n"
|
|
" if(!alreadyCreated) {\n"
|
|
" std::map<std::string, std::string> types;\n";
|
|
BOOST_FOREACH(const Class& cls, classes) {
|
|
if(cls.isVirtual)
|
|
wrapperFile.oss <<
|
|
" types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName(".") << "\"));\n";
|
|
}
|
|
wrapperFile.oss << "\n";
|
|
|
|
wrapperFile.oss <<
|
|
" mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n"
|
|
" if(!registry)\n"
|
|
" registry = mxCreateStructMatrix(1, 1, 0, NULL);\n"
|
|
" typedef std::pair<std::string, std::string> StringPair;\n"
|
|
" BOOST_FOREACH(const StringPair& rtti_matlab, types) {\n"
|
|
" int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n"
|
|
" if(fieldId < 0)\n"
|
|
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
|
|
" mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n"
|
|
" mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n"
|
|
" }\n"
|
|
" if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n"
|
|
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
|
|
" mxDestroyArray(registry);\n"
|
|
" \n"
|
|
" mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);\n"
|
|
" if(mexPutVariable(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\", newAlreadyCreated) != 0)\n"
|
|
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
|
|
" mxDestroyArray(newAlreadyCreated);\n"
|
|
" }\n"
|
|
"}\n"
|
|
"\n";
|
|
}
|
|
|
|
/* ************************************************************************* */
|